commit a96440688ae1ebf187a818d369e9b4926789b837
author Austin Schuh <austin.linux@gmail.com> Thu Mar 28 14:31:52 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 03 20:24:40 2019 -0800
tree 0287238204900e1eadb476ac9da230266cb81a54
parent dc477af4577e8234d56dea13dcc60fe9787f613a

Add left/right switches for auto

Change-Id: Idde67276c32050fe7541bf621c4eb818a773a950

y2019/joystick_reader.cc

diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 9d7117b..b403913 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -400,6 +400,15 @@
   }
 
  private:
+  uint32_t GetAutonomousMode() override {
+    ::frc971::autonomous::auto_mode.FetchLatest();
+    if (::frc971::autonomous::auto_mode.get() == nullptr) {
+      LOG(WARNING, "no auto mode values\n");
+      return 0;
+    }
+    return ::frc971::autonomous::auto_mode->mode;
+  }
+
   // Current goals here.
   ElevatorWristPosition elevator_wrist_pos_ = kStowPos;
   bool grab_piece_ = false;